US10414043B2 - Skew and circular boundary for line tracking and circular tracking - Google Patents

Skew and circular boundary for line tracking and circular tracking Download PDF

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Publication number
US10414043B2
US10414043B2 US15/420,777 US201715420777A US10414043B2 US 10414043 B2 US10414043 B2 US 10414043B2 US 201715420777 A US201715420777 A US 201715420777A US 10414043 B2 US10414043 B2 US 10414043B2
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Prior art keywords
boundary
robot
conveyor
downstream
circular
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US15/420,777
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US20180215034A1 (en
Inventor
Min Ren Jean
Ganesh Kalbavi
Sai-Kai Cheng
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Fanuc America Corp
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Fanuc America Corp
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Priority to US15/420,777 priority Critical patent/US10414043B2/en
Assigned to FANUC AMERICA CORPORATION reassignment FANUC AMERICA CORPORATION ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: CHENG, SAI-KAI, JEAN, MIN REN, KALBAVI, GANESH
Priority to CN201880009338.XA priority patent/CN110234470B/zh
Priority to DE112018000610.7T priority patent/DE112018000610T5/de
Priority to PCT/US2018/016179 priority patent/WO2018144566A1/en
Priority to JP2019541086A priority patent/JP6997198B2/ja
Publication of US20180215034A1 publication Critical patent/US20180215034A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/4182—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39102—Manipulator cooperating with conveyor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39106—Conveyor, pick up article, object from conveyor, bring to test unit, place it
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40007—Optimize sequence of pick and place operations upon arrival of workpiece on conveyor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45063—Pick and place manipulator
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the invention relates to flexible methods of defining the picking area of a robot relative to a moving conveyor transporting parts to be picked.
  • the boundaries also known as tracking boundaries
  • the upstream boundary “UB” and the downstream boundary “DB'” that confine the robot's work area on a conveyor could only be defined by straight lines perpendicular to the flow direction of the parts on the conveyor surface.
  • a robot can pick a part on the conveyor when it is in the picking area.
  • the picking area is defined by the intersection of the circular work envelope of the robot and the boundaries UB and DB.
  • the motion software controlling the motion of the robot allows the robot to pick or place as soon as a part is downstream of the upstream boundary UB. This is done even if the part is actually outside the work envelope. If the part is downstream of the upstream boundary, but outside the work envelope, the robot faults with a “Position not reachable” error causing downtime.
  • the restriction to use only straight perpendicular boundaries makes it impossible to maximize the picking area of the robot when there are objects or obstacles such as other machines or robots in the work envelope of the robot.
  • the restriction to use only straight perpendicular boundaries does not allow the robot to not pick those parts that are on the edge of the work envelope in certain applications where it was desired for improving the picking rate.
  • the invention involves a first flexible method that allows a robot picking area on a conveyor to be bounded by skewed boundaries.
  • a second flexible method allows the robot picking area on the conveyor to be bounded by a circular boundary that is smaller than a circular work envelope of the robot. It is contemplated that the picking area of the robot is defined using the following boundaries:
  • a method for controlling motion of a robot relative to a conveyor flow direction of a moving conveyor comprises the steps of: setting an upstream boundary traverse to the conveyor flow direction relative to an object support surface of the conveyor; setting a downstream boundary traverse to the conveyor flow direction relative to the support surface, at least one of the upstream boundary and the downstream boundary being skewed relative to a direction perpendicular to the conveyor flow direction, the upstream boundary and the downstream boundary being positioned to define a picking area therebetween relative to the support surface; and operating the robot in the picking area to at least one of pick objects from and place objects on the support surface confined by the upstream boundary and the downstream boundary.
  • the method includes: setting the upstream boundary skewed relative to the perpendicular direction and the downstream boundary aligned with the perpendicular direction; or setting the downstream boundary skewed relative to the perpendicular direction and the upstream boundary aligned with the perpendicular direction; or setting the upstream boundary and the downstream boundary skewed relative to the perpendicular direction.
  • the method includes setting the upstream boundary and the downstream boundary skewed at different angles relative to the perpendicular direction.
  • the robot has a circular work envelope superimposed on the support surface and the method can include setting a circular boundary with a diameter smaller than a diameter of the work envelope and superimposing the circular boundary on the upstream boundary and the downstream boundary to further define the picking area.
  • the method includes positioning a center of the circular boundary on a longitudinal axis of the support surface.
  • the method includes positioning a center of the circular boundary offset from a longitudinal axis of the support surface.
  • the method includes setting the diameter of the circular boundary larger than a width of the support surface.
  • the method includes setting the diameter of the circular boundary smaller than or equal to a width of the support surface.
  • the method includes skewing the at least one boundary at an angle to exclude an obstacle from the picking area.
  • a method for controlling motion of a robot relative to a conveyor flow direction of a moving conveyor includes the steps of: establishing a tracking frame for coordinating a position and movement of the robot relative to an object support surface of the conveyor; setting an upstream boundary traverse to a conveyor flow direction of the conveyor; setting a downstream boundary traverse to the conveyor flow direction; setting a circular boundary partially overlapping the upstream boundary and the downstream boundary, wherein the upstream boundary, the downstream boundary and the circular boundary are positioned to define a picking area relative to the support surface; and operating the robot to pick objects from the picking area confined by the upstream boundary, the downstream boundary and the circular boundary.
  • FIG. 1 is a top plan view schematic diagram of a conveyor showing a prior art robot picking area confined by upstream and downstream boundaries perpendicular to the conveyor flow direction;
  • FIG. 2 is a top plan view schematic diagram of a conveyor showing a robot picking area confined by perpendicular downstream boundary and a skewed upstream boundary according to the invention
  • FIG. 3 is a top plan view schematic diagram of a conveyor showing a robot picking area confined by a circular boundary and perpendicular upstream and downstream boundaries according to the invention
  • FIG. 4 is a top plan view schematic diagram of a conveyor showing a robot picking area confined by skewed upstream and downstream boundaries according to the invention
  • FIG. 5 is a top plan view schematic diagram of a conveyor showing a robot picking area confined by a circular boundary and perpendicular upstream and downstream boundaries according to the invention
  • FIG. 6 is a perspective view of a conveyor and a robot showing a robot picking area confined by skewed upstream and downstream boundaries according to the invention
  • FIG. 7 is a flow diagram of a method of setting robot picking area boundaries according to the invention.
  • FIG. 8 is a top plan view schematic diagram of a circular conveyor showing a robot picking area confined by radial upstream and downstream boundaries according to the invention.
  • This invention introduces the concept of circular and skewed boundaries for defining a robot picking area relative to a conveyor surface supporting objects to be picked.
  • the robot is not only able to overcome the shortcomings of the prior art but also to provide additional benefits to suit the requirements of the robot-picking application for objects on a conveyor.
  • FIG. 1 shows a conveyor C and a working area WE of a robot R with a robot arm RA according to a prior art configuration.
  • Virtual boundaries also known as tracking boundaries
  • These boundaries confine the robot's picking area PA on the conveyor C and could only be defined by the user in the robot controller picking application program to be straight lines extending perpendicular to a conveyor flow direction CFD of parts (P 1 , P 2 , P 3 ) on the conveyor surface.
  • the robot R can pick a part on the conveyor C when a picking tool PT at the end of the robot arm RA is in the picking area PA.
  • the picking area PA is confined by the intersection of the periphery of the circular work envelope WE of the robot R and the boundaries UB and DB.
  • the motion software running on the robot controller allows robot motion to pick or place as soon as a part has moved downstream of the upstream boundary UB. This picking is done even if the part is actually outside the work envelope WE.
  • the part P 1 is downstream of the upstream boundary UB but outside the work envelope WE in a “Not Reachable” area NR.
  • the robot R faults with a “position not reachable” error causing system downtime as a first shortcoming of the prior art system.
  • FIG. 2 is a top plan view schematic diagram of a conveyor 10 showing an obstacle 11 to be avoided by the robot R when picking objects from the surface of the conveyor.
  • a downstream boundary 12 extends perpendicular (Y axis direction of arrow 10 a of a tracking frame) to a longitudinal direction of movement (X axis arrow 10 b ) across the width of the conveyor 10 .
  • An upstream boundary 13 is spaced from the boundary 12 , extends across the width of the conveyor 10 and is skewed at a predetermined angle from the perpendicular direction 10 a .
  • the skew angle S is depicted with reference to the tracking frame.
  • the boundaries 12 and 13 extend upwardly from the surface of the conveyor 10 (see FIG. 6 ) in a Z axis of the tracking frame.
  • One end 13 a of the upstream boundary 13 is positioned adjacent the obstacle 11 and an opposite end 13 b is positioned a greater distance from the downstream boundary 12 than the end 13 a .
  • the boundaries 12 and 13 confine the robot R to a picking area 14 therebetween on the conveyor surface with the obstacle 11 being outside the picking area.
  • the downstream boundary 12 and the upstream boundary 13 are virtual boundaries established by a controller of the robot to limit movement of the robot arm to the picking area 14 when picking objects from the surface of the conveyor 10 .
  • the skew boundary 13 allows the robot user to define a picking area with no obstacle or collision hazard within that picking area, which picking area 14 is larger than one defined by a perpendicular upstream boundary such as the upstream boundary UB shown in FIG. 1 .
  • FIG. 3 is a top plan view schematic diagram of the conveyor 10 showing the downstream boundary 12 that extends perpendicular to the longitudinal direction of movement of and across the width of the conveyor 10 .
  • An upstream boundary 21 is spaced from the boundary 12 and extends perpendicular to the longitudinal direction of movement across the width of the conveyor 10 .
  • a superimposed internal circular boundary 22 overlaps the boundaries 12 and 21 and extends beyond both edges of the conveyor 10 .
  • a tracking area 23 is surrounded by the boundaries 12 , 21 and 22 and includes a picking area where the tracking area overlaps the surface of the conveyor 10 .
  • the downstream boundary 12 , the upstream boundary 21 and the circular boundary 22 are virtual boundaries established by a controller of the robot (no shown) to limit movement of the robot arm to the tracking area 23 when picking objects from the surface of the conveyor 10 .
  • the circular boundary 22 allows the robot user to define a picking area with no obstacle or collision hazard within that picking area.
  • the circular boundary 22 shown in FIG. 3 allows the user to define the robot reachable work area within a defined area on the conveyor.
  • a combination of the circular boundary 22 and the skewed boundary 13 shown in FIG. 2 would allow the user to maximize the robot work area that the robot can always reach and be free of a collision hazard.
  • the circular boundary 22 has a diameter greater than a width of the conveyor 10 . However, the diameter could be equal to or smaller than the conveyor width. Also, the center of the circular boundary 22 is offset relative to a longitudinal axis of the conveyor 10 , but could be centered on the conveyor.
  • FIG. 4 shows an embodiment of the invention where the boundaries UB and DB are both skewed relative to the conveyor flow direction CFD of the conveyor C.
  • Objects O are positioned in the work envelope WE of the robot (not shown).
  • the picking area PA is confined by the skewed upstream and downstream boundaries UB and DB to avoid the objects O.
  • the robot only picks the parts P that are in the picking area PA with no extra programming steps.
  • the picking area of the robot is considerably reduced (allowing it to pick only a few parts) or the robot runs the risk of colliding with the objects O.
  • the robot (not shown) picks the parts P in the picking area PA which is the intersection of a circular boundary CB (smaller in diameter than the work envelope circle WE) with the perpendicular boundaries UB and DB.
  • This feature is important because in some applications the robot should not pick close to the edge of the work envelope WE because it takes longer to travel that distance, increases cycle time and reduces the picking rate. This is simply an application requirement.
  • the method according to the invention allows this capability with no extra programming.
  • FIG. 6 is a perspective view of the conveyor C with the picking robot R positioned adjacent thereto. Similar to FIG. 4 , the robot picking area PA is confined by a pair of skewed boundaries UB and DB according to the invention. Each of the upstream boundary UB and the downstream boundary DB is in a skewed positioned to prevent the robot R from colliding with an adjacent object O when picking or placing the part P.
  • the method of the invention enables a user to set virtual boundaries to confine a robot to a desired picking area.
  • the user sets an upstream boundary to be perpendicular or skewed and a downstream boundary to be perpendicular or skewed.
  • the user can add a circular boundary.
  • the boundaries can be set to avoid obstacles and maximize the robot picking area.
  • FIG. 7 is a flow diagram of a method of setting robot picking area boundaries according to the invention.
  • the method starts with a step 30 wherein the user establishes a tracking frame correlating the position and movement of the robot with the position of the conveyor surface and the positions of the boundaries.
  • a step 31 the user sets the skew angle of the upstream boundary with 0° being perpendicular to the conveyor flow direction.
  • a step 32 the user sets the skew angle of the downstream boundary with 0° being perpendicular to the conveyor flow direction.
  • the user sets the diameter of the circular boundary and a position of the center of the circular boundary if a circular boundary is desired.
  • the robot is operated to pick and/or place objects in the picking area confined by the set boundaries.
  • FIG. 8 shows a circular conveyor 40 , shaped as a ring, rotating about an axis of rotation 40 a .
  • a straight line downstream boundary 41 extends radially from the axis 40 a to a periphery 40 b of the conveyor.
  • a straight line upstream boundary 42 also extends radially from the axis 40 a to the periphery 40 b at an angle from the downstream boundary 41 such that an annular segment 40 c of the conveyor 40 lies between the radial boundaries.
  • a circular boundary 43 is set to overlap the radial boundaries 41 and 42 at the surface of the conveyor.
  • the radial boundaries 41 and 42 , the circular boundary 43 and the conveyor periphery 40 b define a tracking or picking area 44 for picking and/or placing parts P.
  • the method according to the invention allows flexible methods to define the picking area of a robot on a moving conveyor containing parts.
  • a benefit of the method according to the invention is that there is no downtime caused by the robot trying to reach an unreachable part and faulting. Another benefit is that the picking area takes into account the realistic constraints in the factories where the picking robot is used such as obstacles, machinery or other robots that need to share the space with the picking robot. A further benefit is that there is no additional programming required to implement the method according to the invention.
US15/420,777 2017-01-31 2017-01-31 Skew and circular boundary for line tracking and circular tracking Active 2037-04-24 US10414043B2 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
US15/420,777 US10414043B2 (en) 2017-01-31 2017-01-31 Skew and circular boundary for line tracking and circular tracking
CN201880009338.XA CN110234470B (zh) 2017-01-31 2018-01-31 用于线跟踪和圆形跟踪的倾斜和圆形边界
DE112018000610.7T DE112018000610T5 (de) 2017-01-31 2018-01-31 Schräge und kreisförmige Grenze für Linienverfolgung und kreisförmige Verfolgung
PCT/US2018/016179 WO2018144566A1 (en) 2017-01-31 2018-01-31 Skew and circular boundary for line tracking and circular tracking
JP2019541086A JP6997198B2 (ja) 2017-01-31 2018-01-31 直線状トラッキング及び円形トラッキングのための傾斜境界及び円形境界

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US15/420,777 US10414043B2 (en) 2017-01-31 2017-01-31 Skew and circular boundary for line tracking and circular tracking

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US20180215034A1 US20180215034A1 (en) 2018-08-02
US10414043B2 true US10414043B2 (en) 2019-09-17

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JP (1) JP6997198B2 (ja)
CN (1) CN110234470B (ja)
DE (1) DE112018000610T5 (ja)
WO (1) WO2018144566A1 (ja)

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JP6450726B2 (ja) * 2016-10-26 2019-01-09 ファナック株式会社 ロボットの動作をシミュレーションするシミュレーション装置、およびシミュレーション方法
EP3421190B1 (en) * 2017-06-28 2022-05-04 ABB Schweiz AG Switchgear or controlgear with unmanned operation and maintenance, and method of operating the same
JP6659744B2 (ja) * 2018-01-25 2020-03-04 ファナック株式会社 ロボットシステム
EP3814075A4 (en) * 2018-06-26 2022-03-30 Fanuc America Corporation AUGMENTED REALITY VISUALIZATION FOR A ROBOTIC PICKING SYSTEM
CN109732604B (zh) * 2019-01-21 2020-06-19 成都宇俊盛科技有限公司 一种通过电眼进行机械手移动对位的方法
WO2021052561A1 (en) * 2019-09-16 2021-03-25 Abb Schweiz Ag A method and a device for picking and placing items
WO2023275935A1 (ja) * 2021-06-28 2023-01-05 ファナック株式会社 制御装置及び機械システム

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JPH05104465A (ja) 1991-10-09 1993-04-27 Sanyo Electric Co Ltd ロボツトの作業計画装置
US6313595B2 (en) 1999-12-10 2001-11-06 Fanuc Robotics North America, Inc. Method of controlling an intelligent assist device in a plurality of distinct workspaces
WO2004052596A1 (en) 2002-12-10 2004-06-24 Svensk Industriautomation Ab Method and arrangement to avoid collision between a robot and its surroundings while picking details including a sensorsystem
US20050075752A1 (en) 2003-10-07 2005-04-07 Fanuc Ltd Robotic physical distribution tracking system
JP2011140084A (ja) 2010-01-06 2011-07-21 Seiko Epson Corp 制御装置、ロボット、ロボットシステム及びロボットの追従方法
JP2011140085A (ja) 2010-01-06 2011-07-21 Seiko Epson Corp 制御装置、ロボット、ロボットシステム及びロボットの追従制御方法
US20130173051A1 (en) * 2011-12-30 2013-07-04 CAMA1 S.p.A Method for anti-collision control and the management of picking devices with shared working areas in a packaging line
US9089966B2 (en) 2010-11-17 2015-07-28 Mitsubishi Electric Corporation Workpiece pick-up apparatus
WO2016094925A1 (de) 2014-12-19 2016-06-23 Keba Ag Verfahren zur vorgabe des arbeitsraums eines roboters

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JPH05329723A (ja) * 1992-05-27 1993-12-14 Sony Corp 自動作業方法及び自動作業装置
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Publication number Priority date Publication date Assignee Title
JPH05104465A (ja) 1991-10-09 1993-04-27 Sanyo Electric Co Ltd ロボツトの作業計画装置
US6313595B2 (en) 1999-12-10 2001-11-06 Fanuc Robotics North America, Inc. Method of controlling an intelligent assist device in a plurality of distinct workspaces
WO2004052596A1 (en) 2002-12-10 2004-06-24 Svensk Industriautomation Ab Method and arrangement to avoid collision between a robot and its surroundings while picking details including a sensorsystem
EP1569776A1 (en) 2002-12-10 2005-09-07 Svensk Industriautomation AB Method and arrangement to avoid collision between a robot and its surroundings while picking details including a sensorsystem
US20050075752A1 (en) 2003-10-07 2005-04-07 Fanuc Ltd Robotic physical distribution tracking system
JP2011140084A (ja) 2010-01-06 2011-07-21 Seiko Epson Corp 制御装置、ロボット、ロボットシステム及びロボットの追従方法
JP2011140085A (ja) 2010-01-06 2011-07-21 Seiko Epson Corp 制御装置、ロボット、ロボットシステム及びロボットの追従制御方法
US9089966B2 (en) 2010-11-17 2015-07-28 Mitsubishi Electric Corporation Workpiece pick-up apparatus
US20130173051A1 (en) * 2011-12-30 2013-07-04 CAMA1 S.p.A Method for anti-collision control and the management of picking devices with shared working areas in a packaging line
WO2016094925A1 (de) 2014-12-19 2016-06-23 Keba Ag Verfahren zur vorgabe des arbeitsraums eines roboters

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US20180215034A1 (en) 2018-08-02
JP6997198B2 (ja) 2022-01-17
CN110234470A (zh) 2019-09-13
DE112018000610T5 (de) 2019-12-12
JP2020505294A (ja) 2020-02-20
CN110234470B (zh) 2023-01-03
WO2018144566A1 (en) 2018-08-09

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